Unmanned　Aerial　Vehicles　(UAVs)　have　been　widely　used　in　many　fields.　But　inside　the　room,　it　is　difficult　for　the　drone　to　perform　the　appointed　task　without　the　signal　of　satellite　navigation　system.　Besides,　wireless　sensor　networks　(WSNs)　have　been　widely　used　in　various　fields.　But　it　cannot　be　centralized　to　process　and　maintain.　Keeping　in　view　the　above　shortcomings,　a　new　method　based　on　target　recognition　and　locating　technology　is　proposed　in　this　paper,　which　acquires　measured　data　of　different　known　points　by　a　micro　UAV　equipped　with　a　set　of　sensors　in　a　closed　space.　The　key　issue　for　this　topic　is　path　planning　in　a　closed　space,　which　will　be　executed　with　target　recognition　and　visual　localization.　The　principles　of　target　recognition　and　monocular　visual　localization　are　explained.　The　experimental　setup　is　designed　for　monocular　visual　localization　and　the　multi-data　acquisition　with　a　drone　in　a　room.　In　the　experiment,　the　drone　can　recognize　the　appointed　oriented　roundel　and　estimate　the　distance　between　the　camera　and　the　object.　In　the　test　of　distance　estimation,　the　accuracy　and　the　recognition　rate　decreases　as　the　distance　increases.　And　for　robustness　at　the　distance　of　50.00　cm,　the　mean　is　50.54　cm　and　the　standard　deviation　is　0.23　cm.　The　result　shows　that　the　new　method　proposed　in　this　paper　is　feasible.